Objektorienterad implementering för signalprocessor av motorstyrning och givaravläsning

Abstract: An experimental platform is used for research in robot programming and senor-based motion control. The platform is built around a commercially available robot with AC motors. The robot is controlled from a VME-based embedded control computer, which is also connected via Ethernet with workstations used as host computers. The VME system contains micro processors for general computing and control, but also a board with six floating point digital signals processors (DSPs) for certain demanding control algorithms. Interfaces to the AC motor drive system, and from the resolver measurement system, are directly connected to serial ports on the DSPs. The purpose of this work was to implement the low level software handling the serial interfaces, including the algorithms for AC motor control and sensor handling.

Signal processing and control schemes are naturally expressed in block diagrams. For the implementation, object oriented programming (OOP) was selected as software paradigm. The conclusion is that the blocks (from the block diagram) map well on the software objects from OOP. Furthermore, the inheritance concept of OOP is a convenient way to cope with properties that are in common for different types of motor controls, of for different types of sensor handlers.

The software was implemented in the C++ programming language, and cross compiled for the DSP32C processors. The richness of C++ allowed powerful tailoring of the software for quite special hardware, and for the demands on efficiency and timing. However, extensive programming experience and great care was needed to really achieve these performances.